空间机器人遥操作系统设计

Design of Teleoperation System for Space Robot

为了帮助操作者快速直观地规划空间机器人轨迹,开发了一种遥操作系统,该系统由预测仿真软件、图像监控软件、任务规划软件和手控器4个子系统构成。基于遥操作系统进行了3项实验。一是对于系统的双边力反馈功能进行了实验,操作者可以根据时延大小实时调整手柄运动的速度;二是进行了单关节故障仿真实验,通过容错规划后空间机器人仍能以固定姿态完成观测成像任务;三是进行了碰撞检测仿真实验,利用实时遥编程功能可以验证规划路径的合理性,避免碰撞发生。

In order to help operators quickly and intuitively plan the trajectory of space robots,a teleoperation system is developed,which consists of four subsystems:prediction simulation software,image monitoring software,task planning software and hand controller.Three experiments are carried out based on teleoperation system.First,the bilateral force feedback function of the system is experimented.The operator can adjust the speed of the motion of the handle in real time according to the size of the delay.Secondly,a single joint fault simulation experiment is carried out.After fault tolerant planning,the space robot can still complete the observation and imaging task in a fixed attitude.Thirdly,the collision detection simulation experiment is carried out.Real-time remote programming function is used to verify the rationality of the path and avoid collision.